Operation
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02.00 | FMS | Assembly and Operating Manual | en | 389074
Measuring and
teaching processes
Dimension check in the μm range:
A reference part is inserted as a gauge between the active jaw
near the gripper and the passive intermediate jaw. The gripper is
closed. Perform a zero adjustment with the system. The gripper
opens. The part to be measured is inserted between the fingers in
addition to the reference part. The gripper is closed with the same
force (pressure or voltage). If the dimensions of the gripped
workpiece are greater than planned, a gripping force greater than
zero will be displayed.
If the gripped workpiece is too small, a gripping force of less than
zero will be displayed. The reference part must be selected so that
while the gripper is being closed with an inserted reference part, a
dimensionally accurate workpiece is touched by the gripper fingers
with exactly 0 N.
Weight checking:
The gripper grips the workpiece and the gripper is rotated so that
the measuring jaw is on top.
Perform a zero adjustment with the system. Swing the gripper
180° and read the measured value.
This value only changes depending on the weight of the
workpiece. The linearity of the output voltage to the workpiece
weight is, however, only about 15%.
Within a small range, however, a change in weight can be
determined very accurately.
If accurate measurements are to be made, it is worth determining
the conversion factor within the range of the handling weights.
If, for example, the measuring is done in the range between 10 kg
and 12 kg, the above measuring method is carried out once with
10.0 kg and once with 12.0 kg. From the two measured voltage
levels, a highly accurate conversion value can be determined for
this range.